kopia lustrzana https://github.com/YohanHadji/R2Home
86 wiersze
4.1 KiB
C
86 wiersze
4.1 KiB
C
//---------- CONFIG ----------//
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#define I_WANT_TO_FLY false // Simulated servo movement to test the servo movement :))
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#define TEST_DIR_RC false // Use channels 0 on the radio to test the direction of the autopilot and the servos, I_WANT_TO_FLY should be set true too.
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#define TEST_SEP_SERVO false // Will simulate a separation 10 seconds after start up
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#define BUZZER_TURN false // Buzzer sounds as function of the turn command
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#define BUZZER_SWEEP false // Buzzer turn on steroïds, should be easier to understand his tricky language ^^
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#define NO_INIT false // Skip init, for testing only purposes
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#define NAV_WAYPOINT false // Doing the waypoint sequence before reaching home?
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#define NAV_HOME true // Should it go home after the waypoint sequence?
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#define SD_WRITING true // Should it write on the SD card or not?
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#define LOW_RATE false // Dataloging at low HZ (if true) instead of 20Hz, for balloon flight
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#define CONFIG_FILE_SV false // Will also save the config file with the name of the file to debug if the config was wrong
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#define LED_MODEL 1 // Big led = 1, small led = 0.
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#define CAM_CYCLE false // If true, camera will only be powered on for 20s every 10min, used to save battery on long HAB flight
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#define SAFE_TRIGGER false // For HAB flight, will use a safer, but slower methode to detect apogee and transision to descent mode
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#define COG_BRAKE false // Will reduce command if CoG is turning faster than a threshold
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#define GPS_FREQ 5 // Hz
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#define SERVO_RATE 50 // Hz
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#define TLM_MONITOR true // Show telemetry on serial monitor
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#define DEBUG false // Will show all the steps on the screen
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#define X_SERVO false // Is an additional servo used for separation from balloon or D servo is used with two positions?
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#define GPS_PORT Serial7
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#define TLM_PORT Serial5
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#define RX_PORT Serial1
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#define BARO_PORT Wire
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#define TIME_OUT 300
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//---------- FLIGHT SETTINGS ----------//
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#define RC_MODE 1 // only roll (0), pitch and roll mixed (1), pitch and roll separated (2)
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#define CONTROL_MODE 1 // neutral position at the center (0) or with "hands up" (1)
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#define LINEAR_MODE 0 // command is linear (0), or linear but with a large deadband set using servo_start etc (1)
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#define DROP false // R2Home's version, drop or motorised
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#define LAUNCH_SPEED 0 // m/s, in motorised version needed horizontal speed to go into controled mode
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#define DEP_MODE 1 // If 0, the ALTITUDE will be used if 1, the TIMER will be used, to trigger deployment once in descent mode
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#define DESCENT_TIMER 500
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#define OPENING_TIMER 5000
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#define SPIRAL_RECOVER 1000
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#define DEP_ALT 1000 // m above ground altitude
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#define ALT_MODE 1 // If 1, sep altitude is above ground, if 0, sep altitude is above sea level
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#define SEP_ALT 100 // m above sea level
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#define VUP 3 // m/s
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#define VDOWN -2 // m/s
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// PID for navigation
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#define NKP 3
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#define NKI 0.2
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#define NKD 1
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#define BCRITICAL 3.4
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#define BLOW 3.5
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#define NO_BATT 4.0
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#define AUTO_GAIN_WEIGHT false // Servo max command will be set automatically at initialization based on given payload weight
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#define AUTO_GAIN_PRESSURE false // Servo max command will be set automatically during the flight based on the ratio between ground pressure and current pressure
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#define SYSTEM_WEIGHT 500 // System weight in gram
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#define PAYLOAD_WEIGHT 500 // Payload weight in gram
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// If you choose to not use any of the two auto_gain functions, you can set the max commands with these two lines:
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#define SERVO_MAX_M_DEF 2000 // m for map
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#define SERVO_MAX_C_DEF 2000 // c for constrain
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#define TRIG 20
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#define LEFT_OFFSET 100
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#define RIGHT_OFFSET 100
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#define HOME_WAYPOINT_THRESHOLD 10 // Distance to waypoint before going to the next waypoint
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#define BARO_VS_AVG 1
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#define BARO_VS_SAMPLE 50
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#define BARO_AL_AVG 50
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#define BARO_PS_AVG 1
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#define GPS_VS_AVG 1
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#define GPS_SAFE_AVG 5
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#define BARO_SAFE_AVG 1
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#define PRE_PE_AVG 50
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